A Novel Design to Improve Pose Accuracy for Cable Robots

Gonzalez Rodríguez, A.;OTTAVIANO, Erika;Castillo García, F. J.;REA, Pierluigi

2015-01-01

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Abstract

Cable robots are parallel manipulators in which rigid links are replaced by cables, while actuator and transmission systems are responsible for commanding the end-effector by rolling cables in and out by means of drums and changing cable direction by means of pulleys. Commonly developed kinetostatic models assume that the robot frame and end-effector are point-to-point connected. This assumption may induce non-negligible errors in the end-effector pose when performing pick and place operations or trajectory tracking. This paper deals with a new design for connecting the frame and end-effector to reduce any modeling inaccuracies due to the aforementioned assumption. Experimental tests are presented for a planar 4 cable robot.